CN105974953B - A kind of reaction kettle negative pressure rectifying fuzzy control method - Google Patents
A kind of reaction kettle negative pressure rectifying fuzzy control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/202—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means actuated by an electric motor
Abstract
The invention discloses a kind of reaction kettle negative pressure rectifying fuzzy control methods, its key points of the technical solution are that including reaction kettle, rectifying column, water tank, pumping negative pressure device, the first control valve and the second control valve controlled by controller；By fuzzy-PID control device according to the revolving speed of pressure divergence and the real-time dynamic regulation pumping negative pressure device of pressure divergence change rate in reaction kettle, rapidity, accuracy and the stability of the rectifying of reaction kettle negative pressure are improved；And after actual pressure value overshoot in a kettle, adjusted by pressure compensation, so that actual pressure value is faster stable in desired pressure value error range.
Description
Technical field
The present invention relates to chemical production field, in particular to a kind of reaction kettle negative pressure rectifying fuzzy control method.
Background technique
Occasion is specifically chemically reacted in nowadays chemical industry, negative pressure rectifying occupies very importantly in chemical industry
The accuracy of position, control will directly affect the quality of product.Negative pressure distillation technology is a heat of recent domestic research
One of an important factor for point project, the pressure control to reaction kettle is decision rectifying product purity.Traditional negative pressure extracting technology
There are many kinds of, majority is to pump to carry out negative pressure extracting using negative-pressure vacuum, and this method is although cheap, application method is simple,
But the requirement for precision is very low, is difficult to meet the requirement of technique under the industrial background of Modern Fine Chemical Industry.
Negative pressure extracting is realized to which Some Enterprises detach air by the drive of recirculated water high speed undershoot, to control chemical reaction
Reaction process in kettle.The principle is as follows, and water pump driven by the motor at a high speed detaches the water in water pot, passes through pipeline
It sends water back to water pot, forms circulation, swiftly flowing water flow can become smaller the air taken away in reaction kettle because of pressure, make gas
Pressure reduces, and recirculated water flow velocity is faster, and air pressure reduction is faster, so as to reach control reaction kettle by the flow velocity of control loop water
The purpose of middle air pressure.Many factories are also rested on using the method for taking out negative pressure and slowly adjust mechanical valve manually by operator one
The level that reaction kettle negative pressure extracting is completed in fixed time, using this technical operating procedure not only very complicated, to operator
The qualification requirement of operation is very high, and accuracy is too low.With the development of control theory and the raising of automatization level, work
Industry control thought is introduced in recirculated water and takes out in vacuum cavitations.
Wherein, the pressure of reaction kettle kettle top is the typical non-linear variable for having large time delay characteristic, therefore right
It is very difficult that it, which carries out mathematical modeling, and can be achieved with control mesh because PID control does not need concrete model in control theory
And be used widely.Since the nineties in last century, many companies develop for the negative pressure rectification process of chemical industry
The control system of oneself, principle are to carry out PID control to the frequency converter in motor by acquiring negative pressure signal.But it is this
Control method hysteresis quality is extremely serious, and arithmetic speed is also very slow.To solve this defect, often suitably reduce PID control
In integral parameter, while increasing the differential coefficient in PID control, but thus sacrifice the stability of system.Therefore, it designs
Reasonable control strategy proposes that reasonable control algolithm becomes as a technical problem urgently to be resolved in negative pressure rectification process.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of reaction kettle negative pressure rectifying fuzzy control
Method, the method for improving traditional negative pressure extracting, to improve accuracy, stability and the rapidity that reaction kettle takes out negative pressure process.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of reaction kettle negative pressure rectifying fuzzy control method, characterized in that include the following steps:
Step 1: the actual pressure value in rectifying column is detected according to the sampling period, by actual pressure value and desired pressure value into
Row compares, and calculates the pressure divergence e and pressure divergence change rate ec of the two as input；
Step 2: fuzzy push away is carried out according to input pressure deviation e and pressure divergence change rate ec and output variable Kp, Ki, Kd
Reason, specifically:
Step 2-1: the basic domain of setting pressure divergence e, the basic domain of pressure divergence change rate ec, output become first
Measure the basic domain of Kp, Ki, Kd；
Secondly the quantization of the quantification gradation and output variable Kp, Ki, Kd of setting pressure divergence e, pressure divergence change rate ec
Grade；Step 2-2: according to the basic domain and quantification gradation of pressure divergence e and the basic domain of pressure divergence change rate ec
The quantizing factor K of pressure divergence e is respectively obtained with quantification gradationeWith the quantizing factor K of pressure divergence change rate ecec；According to
The basic domain and quantification gradation of output variable Kp, Ki, Kd are to respectively obtain the quantizing factor K of output variable Kp3, output variable
The quantizing factor K of Ki4, output variable Kd quantizing factor K5；
It is step 2-3: setting pressure divergence e corresponding fuzzy subset, the corresponding fuzzy subset of pressure divergence change rate ec, defeated
The corresponding fuzzy subset of variable Kp, Ki, Kd, expression formula are equal out are as follows:
{ NB, NS, ZE, PS, PB }
In formula, NB represents negative big, and NS representative is born small, and ZE represents moderate, and PS represents just small, and PB represents honest；
Step 2-4: the subordinating degree function of pressure divergence e, pressure divergence change rate ec, output variable Kp, Ki, Kd are established
Table, to reflect the quantification gradation of pressure divergence e, pressure divergence change rate ec, output variable Kp, Ki, Kd into fuzzy subset
Mapping；
Step 2-5: according to the fuzzy subset of pressure divergence e and pressure divergence change rate ec establish to output variable Kp, Ki,
The fuzzy control rule table of Kd fuzzy subset；
Step 3: by the pressure divergence e detected in the sampling period for the first time and pressure divergence change rate ec according to step 2-2
To obtain the quantification gradation of pressure divergence e and pressure divergence ec respectively, pressure divergence e is obtained further according to step 2-4 and pressure is inclined
The fuzzy subset of poor ec；
Obtain the fuzzy control rule of output variable Kp, Ki, Kd respectively by fuzzy control rule table in step 2-5；
Anti-fuzzy is carried out to the fuzzy subset of output variable Kp, Ki, Kd respectively by gravity model appoach, respectively obtains output variable
The quantification gradation of Kp, Ki, Kd, thus according to the quantizing factor K in step 2-23, quantizing factor K4, quantizing factor K5, by Kp,
The quantification gradation of Ki, Kd are converted to the row value in basic domain, are denoted as K respectivelyp0、Ki0、Kd0；
Step 4: by the pressure divergence e detected in the sampling period next time and pressure divergence change rate ec according to step 3
Respectively obtain three output variable quantities△Kp、△Ki、△Kd；
Step 5: by three output variables Kp, Ki, Kd according to three output variable quantities△Kp、△Ki、△Kd is adjusted online
Whole, formula is as follows；
In formula, Kp0For proportionality factor, the K in the sampling period for the first timei0For the integrating factor in the sampling period for the first time, Kd0For
Differential factor in sampling period for the first time；
△Kp be the sampling period next time in proportionality factor,△Ki be the sampling period next time in integrating factor,△Kd is
Differential factor in sampling period next time；
Kp, Ki, Kd are three output variables, respectively proportionality factor, integrating factor, differential factor；
Step 6: Kp, Ki, Kd obtained in step 5 are calculated into control signal to be transferred to frequency converter, through frequency conversion
Frequency variation signal is exported after device to taking out negative pressure device, and then realizes and the revolving speed for taking out negative pressure device is controlled.
Preferably, further include in step 6, when actual pressure value exceeds desired pressure value, by changing circulating water pipe
The flow velocity in road to carry out pressure compensation adjusting to reaction kettle.
In conclusion the present invention having the beneficial effect that through fuzzy controller and PID controller in contrast to the prior art
In conjunction with the revolving speed come according to pressure divergence and the real-time dynamic regulation pumping negative pressure device of pressure divergence change rate in reaction kettle, raising
Rapidity, accuracy and the stability of reaction kettle negative pressure rectifying；And after actual pressure value overshoot in a kettle, pass through pressure
Compensation adjustment, so that actual pressure value is faster stable in desired pressure value error range.
Detailed description of the invention
Fig. 1 is the system block diagram of reaction kettle negative pressure distillation system；
Fig. 2 is the system block diagram of fuzzy-PID control device；
Fig. 3 is the subordinating degree function figure in embodiment；
Fig. 4 is Kp, Ki, Kd output response curve；
Fig. 5 is gravity model appoach reasoning process schematic diagram；
Fig. 6 is pressure compensation regulation flow process figure.
Appended drawing reference: 1, negative pressure device is taken out；2, water tank；3, the first control valve；4, pressure sensor；5, anti-backflow device；
6, the second control valve；7, reaction kettle；8, rectifying column；9, controller；10, pipeline；11, pipeline.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
As shown in Figure 1, the connection type of reaction kettle negative pressure rectifying includes taking out negative pressure device 1 and water tank 2 and for accommodating
Reaction mass passes through pipeline between negative pressure device 1 and water tank 2 to carry out the reaction kettle 7 of heating evaporation to reaction mass, wherein taking out
10 are attached, and reaction kettle 7 is connected to the pipeline 10 taken out between negative pressure device 1 and water tank 2 by pipeline 11；Take out negative pressure device 1
For the water pump that can be run under motor drive, water pump driven by the motor at a high speed detaches the water in water tank 2, passes through pipe
Back to water pot is sent water in road 10, to form circulating water pipeline, swiftly flowing water flow can become smaller because of pressure to be taken away by pipeline 11
Air in reaction kettle 7, reduces air pressure, and the flow velocity in circulating water pipeline is faster, and air pressure reduces faster.Wherein, in reaction kettle 7
On be provided with the rectifying column 8 interconnected with it, rectifying column 8 is used to carry out counter current contacting to the gas phase evaporated in reaction mass
The rectifying to realize reaction mass is condensed, the tower top of rectifying column 8 is connected by pipeline 10 with the water circulating pipe in rectifying column 8,
The anti-backflow device 5 for preventing the rectifying liquid secondary back of reaction mass is provided in the junction of pipeline 10 and water circulating pipe.
10 exit of pipeline that water tank 2 is flowed on pumping negative pressure device 1 is provided with the first control valve 3, is connected in reaction kettle 7
It takes out and is provided with the second control valve 6 on the pipeline 11 of negative pressure device 1 and water tank 2, the first control valve 3 and the second control valve 6 are normal
Closed form electromagnetic valve.Pressure sensor 5 is additionally provided in rectifying column 8, pressure sensor 5 is used in real-time detection rectifying column 8
Pressure value, pressure sensor 5, the first control valve 3, the second control valve 6 and take out negative pressure device 1 be respectively connected with controller 9.
Controller 9 includes fuzzy-PID control device and controlling terminal, and controlling terminal includes mobile controlling terminal and fixation
Formula controlling terminal, mobile controlling terminal include mobile phone, laptop etc.；Fixed controlling terminal includes desktop computer etc.,
The preferred controlling terminal of the present embodiment is fixed controlling terminal；Fuzzy-PID control device includes fuzzy controller and PID controller,
Wherein, fuzzy-PID control device is connected to take out the revolving speed that negative pressure device 1 is used to control pumping negative pressure device 1, and controlling terminal is connected to
First control valve 3 and the second control valve 6 are used to control the aperture of the first control valve 3 and the second control valve 6.
This system is by the actual pressure value in 4 real-time detection reaction kettle 7 of pressure sensor, the actual pressure that will test
Value is transmitted in fuzzy-PID control device, fuzzy-PID control device by analyzing actual pressure value and desired pressure value,
It outputs control signals to pumping negative pressure device 1 and negative pressure is taken out by Frequency Converter Control to control frequency converter to change its output frequency
The exploitation speed of motor changes the flow velocity of recirculated water in device 1, thus achieve the purpose that control pressure in reaction kettle 7, so that
Pressure in reaction kettle 7 faster reaches the desired pressure value of needs；It is provided with and stablizes near desired pressure value in controller 9
First error numerical value and the second error value monitor that the pressure in reaction kettle 7 will reach desired pressure value in controller 9
When, controlling terminal will control the aperture of the first control valve 3, to change the water yield and flow velocity of pipeline 10, in reaction kettle 7
Pressure be finely adjusted so that pressure in reaction kettle 7 is stablized in the first error numberical range of desired pressure value, thus with
Faster reach desired pressure value, so that system stability is more preferable；Actual pressure in reaction kettle 7 is stablized in first error numerical value
When interior, controlling terminal is closed the second control valve 6 is controlled to complete the adjustment process of desired pressure value in reaction kettle 7, so that instead
The actual pressure value in kettle 7 is answered to stablize within the scope of the second error value of desired pressure value, to guarantee anti-in reaction kettle 7
Material is answered to carry out rectifying under desired pressure value, to obtain the reaction product of high-purity.
Fuzzy-PID control device in this system includes two parts of fuzzy controller and PID controller, fuzzy controller
In fuzzy reasoning be a kind of computer digit control based on fuzzy set theory, Fuzzy Linguistic Variable and fuzzy logic inference
Technology processed.Relative to Traditional control, fuzzy control can avoid the mathematical model of object, it directlys adopt language type control rule,
The mathematical models of controlled device are not needed to establish in the design, so that control mechanism and strategy are easy to receive and reason
Solution, design is simple, convenient for application；And it is triggered from the qualitative understanding of industrial process, is easier to establish Linguistic control law, because
And fuzzy control is difficult to obtain to those mathematical models, dynamic characteristic be not easy to grasp or change highly significant object it is very suitable
With；System design based on model algorithm and design method are easy to cause larger difference due to the difference of starting point and performance indicator
It is different, but the Linguistic control law of a system has opposite independence, using the fuzzy connection between these control laws, holds
The selection for easily finding compromise makes control effect better than conventional controller；FUZZY ALGORITHMS FOR CONTROL is based on enlightening knowledge and language
It says decision rule design, to be conducive to simulate the process and method of worker's control, enhances the adaptability of control system, make
Have certain level of intelligence；And the strong robustness of Fuzzy control system, interference and Parameters variation are to the shadow of control effect
Sound is significantly reduced, and is particularly suitable for the control of non-linear, time-varying and dead-time system.
Using the pressure parameter of rectifying column 8 on reaction kettle 7 as research object, by the more mature PID controller of technology and mould
Paste control theory combines, and designs pressure parameter automatic measuring and controlling system in a set of reaction kettle 7, realizes the pressure ginseng in reaction kettle 7
Number real-time detection, monitoring and stable control, improve the accuracy of negative pressure extracting in reaction kettle 7.Wherein reaction mass is accurate
Under negative pressure state control, have the effect that one, negative pressure rectifying can reduce the boiling point of mixture, so that the temperature of separation is reduced,
Therefore steam consumption for heating can be reduced and save the consumption of power using the heating steam of lower pressure, reach section
The effect of energy；Two, the separating capacity for improving reaction mass, under negative pressure state, by relatively volatile between separating mixture
Degree is bigger, more can be easily separated.Three, for the separation of noxious material, the leakage of hypertoxic material can be prevented using negative pressure rectifying, thus
Reduce the pollution to environment, there is certain meaning in terms of protecting human health.
Fuzzy-PID control device is designed by the fuzzy control technology combined with PID, controlled volume is changed and is changed
Trend has certain " foresight ", effectively solves the problems, such as that pressure parameter adjusts non-linear, large time delay under conventional means.Due to normal
Rule PID controller simple, high reliability with algorithm, passes through the tune to three parameters for deterministic controlled device
It is whole to be obtained with satisfied control effect.But for system time-varying, that have lag, nonlinear, PID control
System is just difficult to reach good effect.Fuzzy control has the outstanding advantages for the mathematical model for not depending on controlled device, but steady
The precision of state is poor.So FUZZY ALGORITHMS FOR CONTROL is combined with pid control algorithm, fuzzy-PID control device is constituted.Fuzzy-
PID controller has the advantages that fuzzy control and PID control simultaneously, without considering system accurate model, overcomes traditional PI D control
Device processed because system hysteresis quality and control parameter it is non-linear caused by the difficult problem of parameter adjustment, solve real life process
Middle the problem of changing because of load, the architectural characteristic of controlled device caused by increasing is interfered to change, to realize controller parameter
Dynamic adjustment.
Based on control object, in conjunction with actual conditions, we, which have researched and proposed using fuzzy-PID control, realizes reaction kettle 7
Negative pressure rectifying.Fuzzy-PID control device uses two-dimensional fuzzy controller, and two-dimensional fuzzy controller overshoot is small, adjustment time
It is short, have stronger robustness to system parameter variations and external interference, can be stringent reflect output variable in controlled system
Dynamic characteristic, be using more extensive fuzzy controller, structure as shown in Fig. 2, pressure sensor 4 according to actual pressure
Value, system according to desired pressure value and actual pressure value calculates pressure divergence e and pressure divergence, and by differential to obtain pressure inclined
Poor change rate ec magnitude as input goes out new Kp, Ki, Kd by fuzzy reasoning and exports to PID controller, PID controller
Final control signal value output u, output are calculated further according to pressure divergence e, pressure divergence change rate ec and new Kp, Ki, Kd
Value u converts to control the electric current of frequency converter by V/F, to change the revolving speed of pump motor to change the pressure in reaction kettle 7,
And pressure sensor 4 monitors the actual pressure value in rectifying column 8 in real time, constantly to change the electric current of frequency converter, reaches dynamic
Control the purpose of pressure in reaction kettle 7.Wherein, pressure transmitter as shown in Figure 2, pressure transmitter master in general sense
It to be made of pressure sensor 4, measuring circuit and process connector three parts.The gas that it can experience load cell
The physical pressures parameter such as body, liquid is transformed into the electric signal (such as 4~20mADC) of standard, to supply indicator alarm, record
The secondary meters such as instrument, adjuster measure, indicate and procedure regulation, pressure sensor 4 among the above are arranged in rectifying column 8
To carry out detection feedback to the pressure value in rectifying column 8.
The V/F control of frequency converter is a kind of control mode of frequency converter, exactly in reference frequency hereinafter, frequency converter exports
Voltage and output frequency are proportional to, and are the most basic controlling party of frequency converter to export a kind of control mode of permanent torque
Formula.
Measuring the actual pressure value in reaction kettle 7 by pressure sensor 4 is T, desired pressure value To, then pressure divergence
For e (t)=T-To, t- time Δt is ec (t)=e (t)-e (t- Δ t) relative to the pressure divergence change rate of t moment.
Wherein, by pid parameter feature it is found that Kp is proportional control factor, for accelerating the response speed of system, to improve
The degree of regulation of system, wherein Kp increases, and cycle of oscillation reduces, and overshoot becomes larger, and adjustment speed increases；Ki is integral adjustment system
Number, for eliminating residual error, wherein Ki increases, and overshoot becomes larger, stability decline；Kd is differential adjustment factor, for improving system
Dynamic property, wherein Kd increase, inhibit change of error, stability improve.
The blurring of input and output amount in fuzzy reasoning
In negative pressure distillation control system, what is played a major role is the pressure value in reaction kettle 7, and is to the control of pressure value
By motor speed determine, and motor speed be determined by output valve Kp, Ki, Kd of fuzzy-PID control device, thus
Output quantity is obtained to adjust electricity after fuzzy reasoning operation by the parameter that e and ec adjusts fuzzy-PID control device input quantity
Machine revolving speed.But it realizes the accurate control to system, then must convert them into fuzzy variable.
Input quantity: e- pressure divergence, ec- pressure divergence change rate；
Output quantity: Kp- proportional control factor, Ki- integral adjustment coefficient, Kd- differential adjustment factor.
The determination of fuzzy subset
Fuzzy Linguistic Variable of the setting pressure divergence e, pressure divergence change rate ec after Fuzzy processing in the present system
It is indicated respectively with E, EC, the Fuzzy Linguistic Variable difference of proportional control factor Kp, integral adjustment COEFFICIENT K i, differential adjustment factor Kd
It is indicated with KP, KI, KD.By taking pressure divergence e as an example, in the industrial production, if normal pressure divergence is 0.1Mpa, when real-time inspection
When the pressure divergence e measured is lower than the value, deviation is " negative "；When the pressure divergence e that real-time detection goes out is higher than the value, deviation is
" just "；And at the same time be introduced into " big ", " in ", " small " etc. compares language indicates the degree for deviateing setting value.It is raw according to long-term industry
The lucky speech of scene accumulation is produced, is now 5 grades by the Fuzzy Linguistic Variable of E, EC, KP, KI, KD, respectively { NB, NS, ZE, PS, PB },
And it is negative big, bear it is small, moderate, just small, honest.I.e. the fuzzy subset of input/output variable is { NB, NS, ZE, PS, PB }, and language becomes
The stepping number m of amount is 5.
Quantizing factor and the determination for quantifying domain
Assuming that the basic domain of pressure divergence is [- ex, ex], the basic domain of pressure divergence change rate be [- xec,
Xec], the fuzzy subset that pressure divergence is taken be converted to integer domain be-n,-n+1 ... -1,0,1 ... n-1, n }, pressure
The fuzzy subset that power deviation variation rate is taken be converted to integer domain be-m,-m+1 ... -1,0,1 ... m-1, m }, control
Amount basic domain be [- yu, yu], thus the fuzzy subset that control amount is taken be converted to integer domain be-u ,-u+1 ...-
1,0,1 ... u-1, u }.
According to the Practical Project situation of negative pressure rectifying, project planner acquires the range of data by pressure sensor 4
Obtain basic domain [- 0.2,0.2] Mpa, pressure divergence change rate ec of corresponding pressure divergence e basic domain [- 0.3,
0.3], the basic domain [- 6,6] of Kp is exported, the basic domain [- 0.2,0.6] of Ki, the basic domain [- 0.1,0.3] of Kd, from
And it is the requirement for meeting optimum control, quantization domain is set by ratio quantization method, i.e., in theory of integers field element number 2n+1
With fuzzy subset's element number there are when 2n+1=km relationship, fuzzy subset states the fuzzy domain and physics domain of system
The most rationally, wherein k value requires between 1 and 2, and m 5 meets the requirement of optimum control when to acquiring n=3, to obtain
The quantization domain of this system is { -3, -2, -1,0,1,2,3 }, and above-mentioned quantification gradation is 7 grades.
In fuzzy control, the amount in basic domain is precise volume, in order to carry out Fuzzy processing, it is necessary to by input variable
It is transformed into corresponding fuzzy subset's domain from basic domain, so that the concept of quantization factor K will be introduced.Such as there is physics
Amount, domain be X=[- x, x], this basic domain be converted into integer domain be-x,-x+1 ... -1,0,1 ... x-1,
x}.In order to guarantee accuracy, the rapidity of quantizing process, linear quantization process is used herein, quantitative model is direct proportion function
Model: K=n/x, wherein n is quantization domain width, and x is the width of basic domain, and K is quantizing factor.
By calculating quantizing factor, so that it may convert corresponding value in quantization domain for the exact value x of any time
A, i.e.,
A=K*x
If a is an integer, it is exactly the element quantified in domain.If not an integer, then need
The processing that rounds up is carried out, is become to quantify an element in domain.
To respectively obtain according to above-mentioned calculation formula:
Width/basic domain width=6/0.4=15, Ke that Ke=quantifies domain are the quantizing factor of pressure divergence e
Value；
Width/basic domain width=6/0.6=10, Kec that Kec=quantifies domain are pressure divergence change rate ec's
Quantizing factor value.
And the quantizing factor exported then should be with input on the contrary, because output is to be by calculating the actual value of quantization domain
One inverse operation, thus,
K3Width/quantization domain width=12/6=2, K of=basic domain3For the quantizing factor value of proportion adjustment Kp；
K4Width/quantization domain width=0.8/6=0.133, K4 of=domain substantially are integral adjustment COEFFICIENT K i's
Quantizing factor value；
K5Width/quantization domain width=0.4/6=0.067, K of=basic domain5For the amount of differential adjustment factor Kd
Change factor values.
The determination of subordinating degree function
Pass through above-mentioned analysis, it is determined that the quantization domain of this system and fuzzy subset, there are two input quantities, three outputs
The quantizing factor value of amount.But to realize the blurring operational analysis of system, above several transformation be it is inadequate, it is also true
The actual value of two input quantities is passed through quantization factor values conversion by the subordinating degree function of fixed two input quantities and three output quantities
To in quantization domain, to be mapped in fuzzy subset by subordinating degree function.If to the either element x in domain U, all
There are a several A (x) to be corresponding to it for 0,1, then A is referred to as the fuzzy set on U, and A (x) is known as x to the degree of membership of A.When x becomes in U
When dynamic, A (x) is exactly a function, the referred to as membership function of A.For degree of membership A (x) closer to 1, the degree that expression x belongs to A is higher,
A (x) is lower closer to the degree that 0 expression x belongs to A.Membership function A (x) characterization x with value in section 0,1 belongs to the journey of A
Degree height.Common subordinating degree function has Gaussian, triangle or trapezoidal.The subordinating degree function mathematic(al) representation letter of triangle
Single, sensitivity height, therefore use Triangleshape grade of membership function:
Calculate the degree of membership of each control amount.Wherein a, b, c ∈ [- 3,3], value PB, PS, ZE, NS, NB domain are practical
Minimum value, median and the maximum value of value.Wherein, the subordinating degree function of e, ec, Kp, Ki, Kd are as shown in Figure 3.
It is obtained by calculation, the degree of membership assignment table of E, EC, it is as shown in the table.
E, the degree of membership assignment table of EC
It is obtained by calculation, the degree of membership assignment table of KP, KI, KD, it is as shown in the table.
The degree of membership assignment table of KP, KI, KD
Establish fuzzy control rule table
The process of fuzzy control rule is established, the process for manually controlling strategy is exactly concluded using language.In fuzzy control
In, the selection of control strategy is very crucial.Fuzzy algorithmic approach structure embodies the fuzzy relation of fuzzy control rule, it is quite
In the transmission function of normal controller, but this algorithm structure is not that synthesis comes out on the basis of controlled device mathematical model
, but observed according to the mathematics of the Input output Relationship of control system, and using obtained from Fuzzy Set Theory processing.
For in 7 negative pressure rectifying fuzzy control method of reaction kettle, two are inputted, the complex situations of three output, it is necessary to which use can close
The inference pattern for expressing relationship between these variables of reason.
Fuzzy control rule can be by summarizing, concluding the Heuristics of expert, and is further processed, arranges, refines, and takes
Its essence, the fuzzy control rule generated after discarding dross；If the dynamic characteristic of object can be described with language,
Corresponding control rule can be inferred by the description of this dynamic process, here it is commonly according to the fuzzy mould of object
Type is come the method that obtains fuzzy control rule；This method designs fuzzy controller using experience and many experiments observation of expert
Rule, and it is determined the power of each variable output control pump motor effect through a large number of experiments, to determine to anti-
Answer pressure controlled accuracy, stability in kettle 7.Kp, Ki, Kd output response curve as shown in Figure 4, design rule must be protected
The output phase of card system should reach optimal stability, accuracy and rapidity, T-T in figure.For pressure divergence, slope is pressure
Deviation variation rate, i.e., as the pressure divergence e negative big (NB) in reaction kettle 7, the first stage in curve, pipe pressure is not inclined at this time
Why poor change rate ec is worth, and proportional control factor Kp should take honest (PB), so that the pressure value in the reaction kettle 7 made is with maximum journey
Degree increases；And integral adjustment COEFFICIENT K i is minimum, to improve the stability of control pump motor operation；And differential adjustment factor Kd
Minimum, to inhibit pressure value change of error.To same method, other available values.It can according to fuzzy control rule
Know, if EC is NB, E is NB,
Then KP=PB, KI is NB, KD is NB；
If EC is NB, E is NS,
Then KP=PB, KI is NS, KD is NS；
To the relationship of successively available all fuzzy control rules.
The fuzzy reasoning table of KP is as follows:
The fuzzy reasoning table of KP
The fuzzy reasoning table of KI is as follows:
The fuzzy reasoning table of KI
The fuzzy reasoning table of KD is as follows:
The fuzzy reasoning table of KD
By the fuzzy if-then rules of above-mentioned output quantity, we can be according to pressure divergence e and pressure divergence change rate
Actual value in reaction kettle 7, two input quantities obtain the value E and EC in quantization domain by quantifying conversion factor, and E and EC are again
The value quantified in domain is mapped in fuzzy subset by subordinating degree function, to obtain the fuzzy son of corresponding E and EC
Collection.By checking that the fuzzy reasoning table of corresponding KP, KI, KD obtain the mould of two output quantities of corresponding three output quantities KP, KI, KD
Paste subset.
Anti fuzzy method
Anti fuzzy method can also be referred to as ambiguity solution, with blurring on the contrary, ambiguity solution is exactly will be through the fuzzy of fuzzy reasoning
Fuzzy set in control rule is transformed into quantization domain, to further according to quantizing factor obtain that controlled volume can be carried out
The real physical directly controlled.Carrying out the common algorithm of anti fuzzy method has:
1, gravity model appoach ambiguity solution, gravity model appoach are the faces by asking fuzzy set subordinating degree function curve and abscissa to be surrounded
The exact value that long-pending center is exported as controller；
2, weighted mean method, weighted mean method are output valves after using output quantity each element to be weighted and averaged as output
Accurate execution amount；
3, area etc. is distributed, and it is exactly person in servitude corresponding to the fuzzy set output that area equisection method, which is also referred to as median method,
Category degree function curve is divided into equal two parts with the area that abscissa is surrounded, by element corresponding to this two parts separation
The method of exact value as output.
This project carries out precision calculating, gravity model appoach institute shown in Figure 5 to output variable using gravity model appoach ambiguity solution
The fuzzy reasoning process shown.
Assuming that corresponding quantification gradation is respectively 1 grade and -3 grades after pressure divergence e and pressure divergence change rate ec is quantified,
By checking that e and ec degree of membership assignment table obtains e: μ ZE (1)=0.5, μ PS (1)=1；EC: μ NB (- 3)=1.
It is checked to obtain the corresponding rule of Kp, Ki, Kd according to fuzzy reasoning table:
E=ZE and ec=NB then KP=PB, KI=NS, KD=PS；
E=PS and ec=NB then KP=PB, KI=NS, KD=NS；
According to the degree of membership assignment table of KP, KI, KD:
The degree of membership assignment table of KP, KI, KD
It is calculated:
Similarly, the variation occurred according to pressure divergence e and pressure divergence change rate ec in different moments, available KP,
The quantification gradation of KI, KD export table:
The quantification gradation of KP exports table
The quantification gradation of KI exports table
The quantification gradation of KD exports table
Obtain the quantification gradation value of KP, KI, KD by above-mentioned inverse fuzzy arithmetic, thus according to the quantization of Kp, Ki, Kd because
The quantification gradation value of KP, KI, KD are converted to the basic domain row value of output, are denoted as by son△Kp、△Ki、△Kd, and according to following
The new parameter value of method acquisition PID:
Wherein,△Kp=Kp*K3,△Ki=Ki*K4,△Kd=Kd*K5.
Final fuzzy-PID control device output are as follows:
Wherein, T is the sampling period, and must satisfy sampling thheorem；
The computer output valve of u (k)-kth time sampling instant, k=0,1,2......；
The deviation of e (k)-kth time sampling instant input, k=0,1,2......；
KiIntegral coefficient,
KdDifferential coefficient,
From the actual needs of industry, the output valve u of fuzzy-PID control device floats between [4,20] mA, works as pressure divergence
E be 0.1Mpa when, pressure divergence change rate ec be 0.2 when, according to the quantization of pressure divergence e and pressure divergence change rate ec because
E=15*0.1=1.5 is calculated by formula in son, obtains E=2 by rounding up, the quantification gradation of pressure divergence e is
2；The quantification gradation of EC=10*0.2=2, pressure divergence change rate ec are 2, are looked by the quantification gradation output table of KP, KI, KD
Inquiry learns that the quantification gradation that the quantification gradation that the quantification gradation of Kp is -3, Ki is -3, Kd is -3, thus according to Kp, Ki, Kd
Quantizing factor obtains actual value:
Kp=-3*2=-6, Ki=-3*0.13=-0.39, Kd=-3*0.067=-0.201.
To which the value that the value that the value of Kp is -6, Ki is -0.39, Kd is -0.201, exported according to fuzzy-PID control device public
Output valve is calculated in formula, to convert to obtain the exact value of a pump motor electric current according to the V/F value of frequency converter.
Thus when pressure sensor 4 detects that actual pressure value changes, pressure divergence e and pressure divergence change rate
Ec also accordingly changes, to obtain by above-mentioned fuzzy reasoning△Kp value,△The value of Ki and△The value of Kd, according to original Kp=-
6, Ki=-0.39, Kd=-0.201 are added as initial value, each initial value correspondence△Kp、△Ki、△Kd and obtain new Kp, Ki, Kd
Output of the value as fuzzy reasoning, so that fuzzy-PID control device is by the change on the electric current to pump motor for exporting corresponding change
Frequency device adjusts the corresponding revolving speed for adjusting pump motor, so that the pressure value in reaction kettle 7 is changed, so that in reaction kettle 7
Pressure value variation is more accurate, reacts quicker, the stability of entire 7 system of reaction kettle is higher.
Pressure compensation is adjusted
The feedback of 9 real-time detection of controller actual pressure value in rectifying column 8, and in a dynamical system, overshoot
Amount is one in dynamic performance index, is response process curve i.e. rank of the linear control system under step signal input
One index value of the response curve analysis dynamic property that jumps.To in the process of fuzzy-PID control device control pump motor revolving speed
In, it when the actual pressure value in reaction kettle 7 reaches desired pressure value, will also will continue to decline to a certain degree, it is existing overshoot occur
As so that the actual pressure value that pressure sensor 4 continues will test sends control to after fuzzy-PID control device controls overshoot
Device 9 processed, thus controlling terminal in controller 9 by judgement receive actual pressure value whether desired pressure value first error
Within the scope of numerical value or the second error value, later stage benefit is carried out to control the aperture of the first control valve 3 and the second control valve 6
Repay adjusting.
If actual pressure value appears in the first error numberical range of desired pressure value, i.e. P0In [0.8P0, 1.2P0]
Section in, controlling terminal, which will be considered to the pressure in reaction kettle 7, to tend towards stability, thus in order to keep pressure in reaction kettle 7 most
Reach desired pressure value fastly, to improve the adjustment speed of pressure, so that controlling terminal, which will start the first control valve 3, carries out pressure benefit
Control is repaid, changes the flow velocity of pipeline 10 to change the opening size of the first control valve 3 to change the adjusting of the pressure in reaction kettle 7
Speed.
Referring to known to Fig. 6, controlling terminal will judge whether actual pressure appears in after fuzzy-PID control device overshoot
[0.8P0, 1.2P0] section in when, if so, controlling terminal will enter in next step judge；Conversely, if it is not, controlling terminal will be controlled
The aperture for making the first control valve 3 opens to the maximum, and adjusts the pressure value in reaction kettle 7 with prestissimo to reach setting value；
In next step in judgement, controlling terminal will judge whether actual pressure value is in the first error numerical value of desired pressure value
In range, i.e. P0Whether in [0.8P0, P0] section in, if so, controlling terminal will control the first control valve 3 with original U2=
[(-2.5P/P0)+3 times] and aperture carry out the compensation adjustment of pressure in reaction kettle 7；Conversely, if it is not, controlling terminal will be into one
Step judgement；
Further in judgement, controlling terminal will judge whether actual pressure value is in [P0, 1.2P0] section in, if so,
Controlling terminal will control the first control valve 3 with original U2=[(- 1.5P/P0)+2] and times aperture carry out reaction kettle 7 in pressure mend
Repay adjusting；Conversely, if it is not, controlling terminal opens to the maximum the aperture that output control signal controls the first control valve 3, with most fast
Speed adjusts the pressure value in reaction kettle 7 to reach desired pressure value.
To which according to above-mentioned judgement, the aperture for controlling the first control valve 3 is carried out the pressure in reaction kettle 7 and mended by controlling terminal
Adjusting is repaid, until pressure sensor 4 detects that the actual pressure value in reaction kettle 7 is in the second error range of desired pressure value
It is interior, i.e. P0In [0.95P0, 1.05P0] section in, the stability that the control of closing first 3 is checked whole system by controlling terminal,
To stablize when actual pressure value in [0.95P0, 1.05P0] time in this section reaches setting time value or more, control is eventually
End by control the second control valve 6 aperture be zero, that is, be in close state, make reaction kettle 7 keep sealing, with to reaction mass into
Row negative pressure rectifying；Conversely, if pressure sensor 4 detects the actual pressure value in reaction kettle 7 not in [0.95P0, 1.05P0]
In section, controlling terminal will come back to first step judgment step and carry out repeating judgement, until actual pressure value is stablized
[0.95P0, 1.05P0] section in more than setting time value just close the second control valve 6；Wherein, the range of setting time value exists
Between 10~15 seconds, it is 10 seconds that the present embodiment, which preferably sets time value,.
Wherein known to complex chart 2 and Fig. 6, P0For desired pressure value, P is actual pressure value, and among the above, U2 represents the first control
The aperture of valve 3 processed, U3 represent the aperture of the second control valve 6, and U2=0 indicates that the aperture of the first control valve 3 is maximum, U3=1 table
Show that the aperture of the second control valve 6 for minimum, that is, is in close state.
From the point of view of specific, the actual pressure value in reaction kettle 7 is adjusted in [0.95P by the pressure compensation in later period0, 1.05P0]
Between will be regarded as stablizing, made by fuzzy-PID control device according to the actual pressure value in reaction kettle 7 with continuous dynamic regulation
Pressure in reaction kettle 7 is optimal state, and accurate negative pressure extracting adjusts control, to simplify monitoring, controlling unit, drops
Low producing cost, improves the production efficiency of reaction kettle 7, to effectively increase economic benefit.
The above is only exemplary embodiment of the invention, protection scope and is not intended to limit the present invention, this hair
Bright protection scope is determined by the attached claims.
Claims (1)
1. a kind of reaction kettle negative pressure rectifying fuzzy control method, characterized in that include the following steps:
Step 1: the actual pressure value in rectifying column (8) is detected according to the sampling period, by actual pressure value and desired pressure value into
Row compares, and calculates the pressure divergence e and pressure divergence change rate ec of the two as input；
Step 2: fuzzy reasoning is carried out according to input pressure deviation e and pressure divergence change rate ec and output variable Kp, Ki, Kd,
Specifically:
Step 2-1: the setting basic domain of pressure divergence e, the basic domain of pressure divergence change rate ec, output variable first
The basic domain of Kp, Ki, Kd；
Secondly setting pressure divergence e, the quantification gradation of pressure divergence change rate ec and the quantification gradation of output variable Kp, Ki, Kd；
Step 2-2: according to the basic domain of the basic domain and quantification gradation of pressure divergence e and pressure divergence change rate ec and
Quantification gradation is to respectively obtain the quantizing factor K of pressure divergence eeWith the quantizing factor K of pressure divergence change rate ecec；According to defeated
The basic domain of variable Kp, Ki, Kd and quantification gradation are out to respectively obtain the quantizing factor K of output variable Kp3, output variable Ki
Quantizing factor K4, output variable Kd quantizing factor K5；
Step 2-3: setting pressure divergence e corresponding fuzzy subset, the corresponding fuzzy subset of pressure divergence change rate ec, output become
The corresponding fuzzy subset of Kp, Ki, Kd is measured, expression formula is equal are as follows:
{ NB, NS, ZE, PS, PB }
In formula, NB represents negative big, and NS representative is born small, and ZE represents moderate, and PS represents just small, and PB represents honest；
Step 2-4: establishing the subordinating degree function table of pressure divergence e, pressure divergence change rate ec, output variable Kp, Ki, Kd, comes
Reflect mapping of the quantification gradation of pressure divergence e, pressure divergence change rate ec, output variable Kp, Ki, Kd into fuzzy subset；
Step 2-5: it is established according to the fuzzy subset of pressure divergence e and pressure divergence change rate ec to output variable Kp, Ki, Kd mould
Paste the fuzzy control rule table of subset；
Step 3: by the pressure divergence e detected in the sampling period for the first time and pressure divergence change rate ec according to step 2-2 to divide
Not Huo get pressure divergence e and pressure divergence ec quantification gradation, obtain pressure divergence e and pressure divergence ec further according to step 2-4
Fuzzy subset；
Obtain the fuzzy control rule of output variable Kp, Ki, Kd respectively by fuzzy control rule table in step 2-5；
Anti-fuzzy is carried out to the fuzzy subset of output variable Kp, Ki, Kd respectively by gravity model appoach, respectively obtain output variable Kp,
The quantification gradation of Ki, Kd, thus according to the quantizing factor K in step 2-23, quantizing factor K4, quantizing factor K5, by Kp, Ki, Kd
Quantification gradation be converted in basic domain row value, be denoted as K respectivelyp0、Ki0、Kd0；
Step 4: the pressure divergence e detected in the sampling period next time and pressure divergence change rate ec are distinguished according to step 3
Obtain three output variable quantity △ Kp, △ Ki, △ Kd；
Step 5: three output variables Kp, Ki, Kd are subjected to on-line tuning according to three output variable quantity △ Kp, △ Ki, △ Kd,
Formula is as follows:
In formula, Kp0For proportionality factor, the K in the sampling period for the first timei0For the integrating factor in the sampling period for the first time, Kd0For for the first time
Differential factor in sampling period；
△ Kp be proportionality factor, the △ Ki in the sampling period next time be integrating factor in the sampling period next time, △ Kd is
Differential factor in sampling period next time；
Kp, Ki, Kd are three output variables, respectively proportionality factor, integrating factor, differential factor；
Step 6: Kp, Ki, Kd obtained in step 5 are calculated into control signal to be transferred to frequency converter, after frequency converter
Output frequency variation signal is realized and is controlled the revolving speed for taking out negative pressure device (1) to taking out negative pressure device (1)；
It in step 6 further include step 6-1: when actual pressure value exceeds desired pressure value, by changing circulating water pipeline
Flow velocity to carry out pressure compensation adjusting to reaction kettle (7):
Step 6-1-1: after fuzzy-PID control device overshoot, controlling terminal will judge whether actual pressure appears in [0.8P0,
1.2P0] section in when, if so, controlling terminal will enter in next step judge；Conversely, if it is not, controlling terminal will control first
The aperture of control valve (3) opens to the maximum；
Step 6-1-2: controlling terminal will judge whether actual pressure value is in the first error numberical range of desired pressure value,
That is P0Whether in [0.8P0,P0] section in, if so, controlling terminal will control the first control valve (3) with original U2=[(-
2.5P/P0)+3 times] and aperture carry out the compensation adjustment of pressure in reaction kettle (7)；Conversely, if it is not, controlling terminal will be further
Judgement；
Further in judgement, controlling terminal will judge whether actual pressure value is in [P0,1.2P0] section in, if so, control
Terminal will control the first control valve (3) with original U2=[(- 1.5P/P0)+2] and times aperture carry out reaction kettle (7) in pressure mend
Repay adjusting；Conversely, if it is not, controlling terminal opens to the maximum the aperture of output control signal control the first control valve (3)；
Step 6-1-3: the aperture that controlling terminal will control the first control valve (3) carries out the pressure compensation in reaction kettle (7) and adjusts,
Until pressure sensor (4) detects that the actual pressure value in reaction kettle (7) is in the second error range of desired pressure value,
To stablize when actual pressure value in [0.95P0, 1.05P0] time in this section reaches setting time value or more, control is eventually
End is zero by the aperture of the second control valve (6) is controlled, that is, is in close state, and so that reaction kettle (7) is kept sealing, to reactant
Material carries out negative pressure rectifying；Conversely, if pressure sensor (4) detects the actual pressure value in reaction kettle (7) not in [0.95P0,
1.05P0] section in, controlling terminal will come back to step 6-1-1 carry out repeat judgement, until actual pressure value stablize exist
[0.95P0, 1.05P0] section in more than setting time value just close the second control valve (6).
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